Multi-surface Sliding Mode Control of a Thrust Vectored Quadcopter with a Suspended Double Pendulum Weight

This paper proposes a controlling method for a suspended double pendulum weight carried by a thrust vectored multirotor. The dynamic model of a multirotor is presented, and Euler-Lagrange formulations are used to express the dynamics of the double pendulum weight. A robust Multi-Surface Sliding Mode Control is then used for stabilization of the vehicle's motion together with attenuation of the payload swing. Stability proofs for this controller design are derived based on the Lyapunov Stability Theory.